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A method of and computer-readable medium containing instructions for high accuracy, reliable position determination. The ADAPT-RTK Technology (Automatic Decorrelation and Parameter Tuning Real-Time Kinematic technology) is described using an innovative decorrelation algorithm to decorrelate the correlation between L1 and L2 measurements through a functional model and a stochastic model reducing the impact on performance of distance dependent biases.
1. A method of determining a position estimate based on an updated Kalman filter, comprising:
receiving a first measurement L1 based on a first signal with wavelength λ1 and frequency f1;
receiving a second measurement L2 based on a second signal with wavelength λ2 and frequency f2;
selecting a model α of distance dependent and distance independent errors in the first and second measurements, wherein the model α is selected from α=λ1/λ2, α=λ2/λ1, and α=1;
based on the model α, calculating a double differenced variance matrix:
wherein Rnon-dist,L1 is a non-distance dependant measurement error for the L1 measurement;
wherein Rnon-dist,L2 is a non-distance dependant measurement error for the L2 measurement;
wherein Rion is measurement error due to ionospheric delay;
wherein Rtrop is measurement error due to tropospheric delay;
wherein Rorb is measurement error due to orbit bias;
wherein each W is: Wn=1.0+7.5e−E/15;
wherein n is a satellite ordinal of a plurality of satellites;
wherein Wref corresponds to a reference satellite of the plurality of satellites;
wherein E is the elevation angle of each satellite of the plurality of satellites;
updating a Kalman filter with the calculated variance matrix; and
determining a present position estimate based on the updated Kalman filter.
2. The method of
wherein H2 T is a transpose of a design matrix H2 for the measurement L2;
wherein V2 is a residual measurement of measurement L2;
wherein D(L1,L2)new=D(L1,L2)old−KoldH 2D(L1,L2)old;
wherein D(L1,L2)new is the calculated variance matrix including the received measurements L1 and L2;
wherein D(L1,L2)old is a previous calculated variance matrix which was calculated before receiving both of the received measurements L1 and L2; and
wherein Kold is a previous Kalman filter which was calculated before receiving both of the received measurements L1 and L2.
3. A computer readable medium having computer-executable instructions, comprising:
receiving a first measurement L1 based on a first signal with wavelength λ1 and frequency f1;
receiving a second measurement L2 based on a second signal with wavelength λ2 and frequency f2;
selecting a model α of distance dependent and distance independent errors in the first and second measurements, wherein the model α is selected from α=λ1/λ2, α=λ2/λ1, and α=1;
based on the model α, calculating a double differenced variance matrix:
wherein Rnon-dist,L1 is a non-distance dependant measurement error for the L1 measurement;
wherein Rnon-dist,L2 is a non-distance dependant measurement error for the L2 measurement;
wherein Rion is measurement error due to ionospheric delay;
wherein Rtrop is measurement error due to tropospheric delay;
wherein Rorb is measurement error due to orbit bias;
wherein each W is: Wn=1.0 +7.5e−E/15;
wherein n is a satellite ordinal of a plurality of satellites;
wherein Wref corresponds to a reference satellite of the plurality of satellites;
wherein E is the elevation angle of each satellite of the plurality of satellites;
updating a Kalman filter with the calculated variance matrix; and
determining a present position estimate based on the updated Kalman filter.
4. The computer readable medium of
K=D(L 1 ,L 2)new H 2 T {H 2 T D(L 1 ,L 2)new H 2 T +V 2}−1;
wherein H2 T is a transpose of a design matrix H2 for the measurement L2;
wherein V2 is a residual measurement of measurement L2;
wherein D(L1,L2)new=D(L1,L2)old−KoldH2D(L1,L2)old;
wherein D(L1,L2)new is the calculated variance matrix including the received measurements L1 and L2;
wherein D(L1,L2)old is a previous calculated variance matrix which was calculated before receiving both of the received measurements L1 and L2; and
wherein Kold is a previous Kalman filter which was calculated before receiving both of the received measurements L1 and L2.
The present application is related to co-pending U.S. patent application Ser. No. 10/610,544 entitled, �Accurate and Fast RTK,� and co-pending U.S. patent application Ser. No. 10/610,541 entitled, �Enhanced Real Time Kinematics Determination Method and Apparatus,� both assigned to the present assignee, both hereby incorporated herein by reference in their entirety, and both filed on Jul. 2, 2003.
The present invention relates to a method of and apparatus for an improved decorrelation and parameter tuning capability for real time kinematics (RTK) determination.
High precision GPS kinematic positioning is widely used for many surveying and navigation applications on land, at sea and in the air. The distance from the mobile receiver to the nearest reference receiver may range from a few kilometers to hundreds of kilometers. As the receiver separation increases, the problem of accounting for distance-dependent biases grows and, as a consequence, reliable ambiguity resolution becomes an even greater challenge.
The standard mode of precise differential positioning uses one reference receiver located at a station whose coordinates are known, while determining a second receiver's coordinates relative to the reference receiver. In addition, the second receiver may be static or moving, and carrier phase measurements must be used to assure high positioning accuracy. This is the basis for pseudo-range-based differential global positioning system (GPS) (DGPS for short) techniques. However, for high precision applications, the use of carrier phase data comes at a cost in terms of overall system complexity because the measurements are ambiguous, requiring that ambiguity resolution (AR) algorithms be incorporated as an integral part of the data processing software.
Such high accuracy techniques result from progressive research and development (R&D) innovations, subsequently implemented by GPS manufacturers in top-of-the-line �GPS surveying� products. Over the last decade, several significant developments have resulted in the high accuracy performance also being available in �real-time��that is, in the field, immediately following measurement, and after the data from the reference receiver has been received by the (second) field receiver for processing via a data communication link (e.g., very high frequency (VHF) or ultra high frequency (UHF) radio, cellular telephone, frequency modulation (FM) radio sub-carrier or satellite communication link). Real-time precise positioning is even possible when the GPS receiver is in motion through the use of �on-the-fly� (OTF) AR algorithms. These systems are commonly referred to as �real-time kinematic� (RTK) systems, and make feasible the use of GPS-RTK for many time-critical applications, e.g., machine control, GPS-guided earthworks/excavations, automated haul truck operations, and other autonomous robotic navigation applications.
If the GPS signals were continuously tracked (loss-of-lock never occurred), the integer ambiguities resolved at the beginning of a survey would be valid for the whole GPS kinematic positioning span. However, the GPS satellite signals are occasionally shaded (e.g. due to buildings in �urban canyon� environments), or momentarily blocked (e.g. when the receiver passes under a bridge or through a tunnel), and in these circumstances the integer ambiguity values are �lost� and must be re-determined or re-initialized. This process can take from a few tens of seconds up to several minutes with present OTF AR techniques. During this �re-initialization� period, the GPS carrier-range data cannot be obtained and there is �dead� time until sufficient data has been collected to resolve the ambiguities. If GPS signal interruptions occur repeatedly, ambiguity re-initialization is, at the very least, an irritation, and, at worst, a significant weakness of commercial GPS-RTK positioning systems. In addition, the longer the period of tracking required to ensure reliable OTF AR, the greater the risk that cycle slips occur during the crucial (re-)initialization period. A loss of lock of a receiver phase lock loop causing a sudden integer number of cycles jump in a carrier phase observable is known as a cycle slip. Receiver tracking problems or an interrupted ability of the antenna to receive satellite signals causes the loss of lock. As the receiver separation increases, the problems of accounting for distance-dependent biases grow and, as a consequence, reliable ambiguity resolution (or re-initialization) becomes an even greater challenge due to:
Residual biases or errors after double-differencing can only be neglected for AR purposes when the distance between two receivers is less than about 10 km. For distances greater than 10 km, the distance-dependent biases, such as orbit bias, ionospheric delay and tropospheric delay, become significant problems.
Determining how long an observation span should be for reliable AR is a challenge for real-time GPS kinematic positioning. The longer the observation span required, the longer the �dead� time during which precise position determination is not possible. This can happen at the ambiguity initialization step if a GPS survey is just starting, or at the ambiguity re-initialization step if the GPS signals are blocked, such as due to cycle slips or data interruptions.
Quality control of GPS kinematic positioning results is a critical issue and is necessary during all processes: data collection, data processing and data transmission. Quality control procedures are not only applied for carrier phase-based GPS kinematic positioning, but also for pseudo-range-based DGPS positioning. However, quality control or validation criteria for AR, for precise GPS kinematic positioning, is a significant challenge.
There is a need in the art for an improved method of processing GPS signals to improve decorrelation and parameter tuning capabilities for high accuracy, reliable position determination.
It is therefore an object of the present invention to provide a method of processing GPS signals to improve decorrelation and parameter tuning capabilities for high accuracy, reliable position determination.
In an embodiment according to the present application, the ADAPT-RTK Technology (Automatic Decorrelation and Parameter Tuning Real-Time Kinematic technology) is described using an innovative decorrelation algorithm to decorrelate the correlation between L1 and L2 measurements through a functional model and a stochastic model reducing the impact on performance of distance dependent biases. Therefore, the ADAPT-RTK Technology improves GPS RTK performance to exceed other products in the market, especially on long-range applications.
The present inventors have successfully implemented the present decorrelation approach in a Z-Max RTK engine from Thales Navigation. After extensive testing using Z-Xtreme and Z-Max receivers, the most exciting results have been derived.
The decorrelation approach has significant advantages: (1) it more closely describes the measurement natural features, especially in long-range applications; (2) it is a rigorous approach from a Kalman filtering implementation point of view; (3) all other approaches, e.g., widelane/iono-free approach, widelane only approach, become special cases in theory and in practice, and; (4) it significantly improves RTK performance, especially for long-range applications.
The functional model includes determining the reference satellite, residuals, and design matrix. The stochastic model includes variance-covariance matrix determination for measurements and the variance-covariance matrix for dynamic noise in Kalman filtering.
The RTK technique requires available dual frequency pseudo-range and carrier phase measurements. On-the-fly RTK might not necessarily need pseudo-range measurements because the float solution can be derived by the change of carrier phase measurements between epochs (or Doppler measurements). However, the float solution using data from a single epoch must be derived by pseudo-range measurements. The integrated function model means modeling carrier phase measurements and also pseudo-range measurements and their stochastic features are included. The stochastic model for carrier phase measurements and pseudo-range measurements, especially the ratio between standard deviations of carrier phase and pseudo-range, significantly affects the float solution and subsequently affects the RTK performance. The present invention provides appropriate stochastic models for both carrier phase and pseudo-range to enhance RTK performance.
Still other objects and advantages of the present invention will become readily apparent to those skilled in the art from the following detailed description, wherein the preferred embodiments of the invention are shown and described, simply by way of illustration of the best mode contemplated of carrying out the invention. As will be realized, the invention is capable of other and different embodiments, and its several details are capable of modifications in various obvious respects, all without departing from the invention.
The present invention is illustrated by way of example, and not by limitation, in the figures of the accompanying drawings, wherein elements having the same reference numeral designations represent like elements throughout and wherein:
The functional model of the present invention includes a Double Differenced Model. The double-differenced observable in units of meters can be formed as:
The integer ambiguity terms can also be re-arranged in the following way:
For GPS carrier phase measurements, the third term on the lefthand side of equation (1-2) disappears because λj and λk are equal. For GLONASS carrier phase measurements, the third term, or the single-differenced integer ambiguity for the reference satellite, must be estimated prior to estimating the double-differenced integer ambiguities. The remaining errors from the third term can cause systematic model errors and may result in incorrect double-differenced ambiguity resolution, and hence degraded positioning accuracy.
An alternative approach is to form the double-differenced observable after the single-differenced observables are expressed in units of cycles as in equation 1-3, as follows:
In an embodiment according to the present invention, the proposed approach estimates ΔdTk using pseudorange and the second term is corrected prior to ambiguity resolution by using equation (1-3). After fixing the ambiguity, equation (1-2) is used for position fixing where the third term on the right side of equation (1-2) is estimated. For a GPS-only positioning system, the third term on the right side of equation (1-2) is always zero because the frequencies for satellite j and k are the same. The ionosphere delay is corrected by a GPS broadcast model (Klobuchar Model). The troposphere delay is corrected by the Hopfield model known to persons of skill in the art.
Kalman Filtering State Vector
For a GPS-only RTK system, the following states in a Kalman filter have been implemented:
The ionosphere delay and the zenith troposphere delay scale factor are estimated after model correction although they operate without model corrections.
Transition Matrix and Dynamic Noise
Position Parameters
When an observer is nearly stationary, such as a buoy drifting at sea, or crustal deformation monitoring, the position is assumed to be a random-walk process. In this case, three coordinate parameters are enough to employ the Kalman state vector. The transition matrix and dynamic noise are determined based on random walk model, such as equations 1-4 and 1-5:
which is called the Position model.
When the observer is not stationary, but moving with nearly constant velocity, the velocity is not white noise but a random-walk process. In this case, three coordinate parameters and three velocity parameters must be included in the Kalman state vector. The transition matrix and dynamic noise can be determined based on integrated random walk model, such as equations 1-6 and 1-7:
which is called the Position-Velocity model.
The Position-Velocity model also becomes inadequate for cases where the near-constant velocity assumption is incorrect, that is, in the presence of severe accelerations. To accommodate acceleration in the process model, it is appropriate to add another degree of freedom for each position state which becomes Position-Velocity-Acceleration model or Gauss-Markov process is perhaps more appropriate than the non-stationary random walk for acceleration.
Determination of the spectral amplitude for position random processes is a best �guess� based on expected vehicle dynamics. In many vehicular applications, random perturbations are greater in the horizontal plane than in the vertical plane. These perturbations are accounted for by selecting a value for spectral amplitude which is lesser for the altitude channel, i.e., vertical plane, than for the two horizontal ones, i.e., horizontal plane.
Troposphere Delay
The troposphere delay includes a wet component and a dry component. Whereas the dry component can be modeled with a high degree of accuracy, the wet component cannot be so modeled. A solution is to scale the wet component by a scale factor, i.e., (1+ε). After troposphere delay modeling correction, the estimation part is
where 1/βtrop is the correlation time of the troposphere wet component and σtrop 2 represents the wet component changing level, both of which are functions of the baseline length and the height difference. The correlation time is set based on empirical data. The default value is set at 600 seconds. The initial variance for zenith troposphere scale factor is set as a default value of 0.1 (unitless) and dynamic noise is set as a default value of 0.1 ppm.
Ionosphere Delay Parameters
The design matrix element of an ionosphere delay parameter is a mapping function of the satellite elevation and the difference of the ionosphere zenith delays on two intersections between the receiver-satellite rays from both ends of a baseline and an equivalent ionosphere layer. However, a part of the ionosphere delay is also corrected based on the ionosphere delay model.
The ionosphere zenith delay, Δdion 2, is a function of the local time, ionosphere activities, distance and direction of two intersections of receiver-satellite rays with equivalent ionosphere layer from both ends of a baseline. The parameters of the empirical model to approximate an ionosphere delay have been broadcast by GPS satellites in real-time, which can be used for compensating for ionosphere delay. This model provides at least a 50% reduction in the single-frequency user's root mean square (RMS) due to ionosphere propagation effects. The model is widely used in a high-precision carrier phase-based RTK engine. The remaining part of the ionosphere delay is estimated in Kalman filtering as a state vector element and is empirically estimated using a Gauss-Markov model. The transition matrix and dynamic model are expressed using equations 1-10 and 1-11, as follows:
where 1/βion is the correlation time of Δdion z after ionosphere broadcast model corrections, and σion 2 represents variation level of the Δdion z.
The initial standard deviation for residual ionosphere parameters is set to a default value of 0.5 ppm*distance. The dynamic noise for residual ionosphere parameters is 0.01 ppm*sqrt(distance) and the weighting function for the different satellite elevation angle is 1.0/sqrt(sqrt(cos(90−elev))).
Decorrelation Approach and Implementation
The measurement and modeling errors consist of measurement noise, multipath, ionosphere delay, troposphere delay, orbit bias, inter-channel bias and antenna offset and additional error sources indicated from warning messages. These errors, or biases, are classified into two categories, e.g. distance-dependent biases and distance-independent biases, and represented by equations 2-1 and 2-2 as follows:
The errors from inter-channel bias, antenna offset etc. are assumed to be cancelled through double difference. Only the errors remaining in double differenced measurements are taken into account.
Due to the distance-dependent errors such as ionosphere, troposphere and orbit bias, the L1 and L2 carrier phase measurements become highly correlated when baseline length increases and the errors are not processed independently as performed in the short range case. Therefore, the co-variance matrix between L1 and L2 must be taken into account. The detailed implementation is as follows in equations 2-3, 2-4, and 2-5:
where L1 is pre-fit residuals for the L1 measurement vector (the difference between the computed vector and the measurement vector), H1 is a design matrix, D1 is a variance-covariance matrix of the L1 measurement vector, and X represents the Kalman filter state vector. V1 is a post-fit residual vector. L2, H2, D2, V2 have similar meanings for the L2 measurement vector. D12 or D21 is a co-variance matrix between the L1 and L2 measurement vectors.
Due to the correlation of the L1 and L2 measurement vectors, L1 block and L2 block are not updated independently. The correlation approach orthogonalizes the L2 measurement vector and forms a new measurement vector
After the new measurement vector
The zenith variances RL1 2, RL2 2 for single differenced (between receivers) L1 and L2 measurements consist of non-distance dependent errors and distance dependent errors, e.g., ionosphere delay, troposphere delay, and orbit bias, as follows in equations 2-11 and 2-12:
where B is the baseline length. The correlated errors RL1,L2 between L1 and L2 zenith is as follows in equation 2-13:
The variance at other elevation angles is mapped by a function, e.g., equation 2-14:
The variance and co-variance matrix for the single difference measurement vectors is represented as follows using equation 2-15:
The variance and co-variance matrix for double difference measurements (between receivers and satellites) is represented as follows using equation 2-19:
Equation 2-23 for calculating DD12DD11 −1 is:
Hence, computation is simplified to a coefficient associated with a preset setting and baseline length as in equation 2-24 as follows:
There are three special cases for the coefficient factor, each of which is described in detail below.
Case 1: Ionosphere-Free Combination
Assuming there is no non-distance dependent error, no troposphere delay and no orbit bias
This means the orthogonalized measurement
Assuming the distance-dependent biases are ignored, (Rion 2=0, Rorb 2=0 and Rtrop 2=0), Coef of equation 2-24 is as follows:
This means the orthogonalized measurement is the L2 measurement.
Case 3: Geometry-Free Combination
Assuming the non-distance dependent error and ionosphere delay are zero
This means the orthogonalized measurement will be
The decorrelation approach has been implemented in a Z-Xtreme-type and Z-Max-type receiver and the inventors have observed that the decorrelation approach selects the best L1 and L2 combination according to preset settings. Based on the decorrelation approach, any combination between L1 and L2 is easily implemented as follows from equation 2-25:
The new combination is formed as:
However, the correlation between L1 and {tilde over (L)}2 has not been taken into account although all combination options are implemented based on the subroutine for correlation approach.
The coefficients for the decorrelation approach have been plotted in
Stochastic Model
The measurement and modeling errors consist of measurement noise, multipath, ionosphere delay, troposphere delay and orbit bias as described by equations 2-11 and 2-12 above.
The remaining errors based on the ionosphere delay, troposphere and orbit bias are represented by distance-dependent functions for their standard deviations, eg. 0.5 ppm, 10−4* HeightDiff+2 ppm, and 0.1 ppm, respectively. If the ionosphere parameters are estimated in the Kalman filtering state vector, the standard deviation for ionosphere delay is scaled by a factor, e.g., 1−dt/dTIono, where dt is the time shift from filtering start, dTIono is the time to turn off ionosphere. If the troposphere scale parameter is estimated, or a default standard troposphere model is applied, troposphere errors are turned off.
By default, ionosphere (one for each Sat) and troposphere (one scale parameter) are modeled in Kalman filtering. In correspondence with the above paragraph, the troposphere term is not applied to the stochastic model. The ionosphere term is applied to the stochastic model even when the ionosphere is modeled. There is not any theoretical foundation behind the formula 1−dt/dTiono; this solution is heuristic and the inventors have found that the formula provides good results. Here, dt is the elapsed time from starting estimation given ionosphere, dTiono is set between from 200 seconds to 1,000 seconds. The default value is set as 600 seconds.
The standard deviation for constant errors from multipath and noise depends on a multipath template index. The index is defined as a value from 1 to 3 representing the multipath status (1=minor multipath, 2=medium, and 3=strong multipath).
The default standard deviation for medium multipath have a default value of 2.25 meters for pseudo-range and 0.05 cycles for carrier phase. The mapping function is determined by the empirical exponential function of equation 2-14.
The standard deviation for non-distance dependent errors is depicted in
Ambiguity Resolution Validation
The ratio smoothing algorithm and ambiguity stability function are only used for the long range widelane/ionosphere-free combination. Both functions increase positioning reliability and increase time-to-first-fix.
Instant Ambiguity Fixing
The methods claimed in the pending patent applications entitled, �Accurate and Fast RTK� and �Enhanced Real Time Kinematics Determination Method and Apparatus� and having application Ser. Nos. 10/610,544 and 10/610,541, respectively, have been used for instant ambiguity fixing for baselines shorter than 10 km.
Ratio Smoothing Algorithm for Long Range Applications
{tilde over (R)}atio=Ratio+{tilde over (R)}atio*(N−1)/N where N is the width of the moving window (1 second per km, if the baseline length is longer than 10 km). Both {tilde over (R)}atio and Ratio, described in more detail in co-pending U.S. patent application Ser. Nos. 10/610,544 and 10/610,541, are required to pass validation tests for ambiguity fixing.
A ratio smoothing algorithm increases reliability for long range; however, the same algorithm decreases instant-fix significantly.
Ambiguity Repeatability Function for Long Range
The ambiguity repeatability check is for determining whether all double-difference ambiguities remain the same for N continuous epochs, e.g., 30, and whether all passed the ratio test mentioned above. If the ambiguity repeatability check is passed, the ambiguity is fixed. This function has a problem when cycle slips occur. The ambiguity stability counter is defined as a counter to count how many continuous epochs with the same ambiguity set or another ambiguity set with a difference larger than 50 cycles. This means that the ambiguity stability counter is not reset if the ambiguity difference is larger than 50 cycles. In this manner, the influence of cycle slips is minimized. This is reasonable because double differenced (DD) ambiguity is impossibly fixed to a wrong integer with such large difference values. However, the DD ambiguity stability counter is reset to a value of 1 if the ambiguity difference is not zero and less than 50 cycles for any given satellite pair.
The Ambiguity Repeatability Check increases reliability for long range applications; however, the same function makes instant-fix impossible.
Partial Fixing Scheme
The partial fixing scheme has been implemented based on the functional model improvement by removing measurements and ambiguity searching adaptation by removing ambiguity, as described in co-pending U.S. patent application Ser. Nos. 10/610,544 and 10/610,541.
Process Flow
In order to reduce the position update time delay, phase predictor process 402 predicts corrections for the position calculation using available corrections transmitted from the base GPS receiver as decoded and output from base data decoder 400 in conjunction with polynomial filtering. The positioning accuracy degrades depending on the length of the predicted period.
Kalman filter process 408, described in detail below with reference to
A rover data decoder 404 decodes raw GPS measurements and ephemeris received from the rover GPS receiver (not shown) and provides time tagged carrier phase measurements to a carrier phase process 406. The sampling rate (or update rate) of rover data decoder 404 can be up to 10 Hz or higher.
Output estimated polynomial parameters from phase predictor 402 are used by carrier phase process 406 to predict the base station measurement at a rate matching the RTK update rate, typically 10 Hz or higher. The RTK solution latency is primarily determined by the rover measurement data collection time and the RTK position computation time. The base station prediction time is a negligible delay. Typically, RTK solution latency is less than 20 milliseconds depending on microprocessor speed.
For embodiments requiring an update rate in time-tagged mode of 1 Hz or lower, carrier phase process 406 uses the output from Kalman filter 408 to calculate and output the rover GPS receiver position and/or velocity. For embodiments requiring an update rate in RTK mode of 1 Hz or lower, carrier phase process 406 uses the most recent measurements from rover data decoder 404 and the predicted correction output from phase predictor 402 to calculate and output the most recent position and/or velocity of the rover GPS receiver.
To reduce the RTK position computation time, only an L1 carrier phase measurement output from a rover data decoder 404 is used. The rover L1 carrier phase measurement and the predicted base station L1 carrier phase measurement output from phase predictor 402 are then used to derive L1 double difference measurements in 406. The estimated L1 integer ambiguities, residual ionosphere delay, residual troposphere delay and other bias parameters are used to correct the double difference measurement in 406. The corrected double difference measurement is output into a least squares (LSQ) estimator to calculate a rover position in 406. The velocity is calculated in a similar manner using rover L1 Doppler measurements and predicted base L1 carrier phase rate. Because of the requirement of base station measurement prediction, the RTK solution accuracy is degraded in comparison to a matched time-tag RTK solution. With Selective Availability (S/A), the rate of degradation increases due to the inability to predict S/A. Selective availability is known to persons of skill in the art and refers to the intentional degradation of the absolute positioning performance capabilities of the GPS for civilian use accomplished by artificial �dithering� of satellite clock error.
With reference to
After the time tags are matched, the matched data output from match time tag step 504 is input to a Kalman filter. In step 506, if the matched data output is in the first epoch or if a reset of the Kalman filter is required, the Kalman filter is initialized in step 506. In step 508, a reference satellite is selected to determine the double differenced measurement. Further, cycle slips are checked using cycle slip flags and a stochastic model is calculated.
The flow proceeds to step 510 for the preparation of the design matrix, variance-covariance matrix (stochastic model) and calculation of pre-fit residuals for all measurements, e.g. C/A pseudo-range, P1 pseudo-range, P2 pseudo-range, L1 Doppler, L2 Doppler, L1 carrier phase and L2 ca output of the pre-fit residual calculation is input to a Receiver Autonomous Integrity Monitoring (RAIM) algorithm to detect outliers. RAIM is a form of receiver self-checking using redundant pseudo-range observations to detect if a problem with any of the measurements exists.
The output of step 510 is provided as input to a Kalman filter measurement update step 512 to sequentially filter all measurements and provide filtered output measurements to an ambiguity resolution step 514.
The validation criteria are calculated using the above-described method in step 514 and a determination of whether the integer ambiguities can be fixed or not is performed in step 516. If the step 516 determination is positive (the integer ambiguities can be fixed), the float solution is updated to the fix solution in step 518. If the step 516 determination is negative (the integer ambiguities cannot be fixed), the above-described adaptive fix procedure is performed in step 520 to attempt to fix ambiguities and a second determination of whether the integer ambiguities can be fixed or not is performed in step 522. If the step 522 determination is positive (the integer ambiguities can be fixed), the float solution is updated to the fix solution in step 518 and the flow proceeds to step 524 wherein the post-fit residuals are updated and possible outliers are detected. If the step 522 determination is negative (the integer ambiguities cannot be fixed), the flow proceeds to step 524 described above.
The output of step 524 is provided to a Kalman filtering time update 526, which is a Kalman filtering prediction step. In step 528, all necessary information is outputted and in step 530 the measurements are stored and the processing information is updated based on the above-described method. The flow proceeds to process the next epoch of data returning to step 504.
In coordination with the above-described technique, an embodiment of the present invention provides an improved method of and apparatus for an improved decorrelation and parameter tuning capability for determining real time kinematics.
Computer 600 includes a bus 602 or other communication mechanism for communicating information, and a processor 604 coupled with the bus 602 for processing information. Computer 600 also includes a main memory 606, such as a random access memory (RAM) or other dynamic storage device, coupled to the bus 602 for storing GPS data signals according to an embodiment of the present invention and instructions to be executed by processor 604. Main memory 606 also may be used for storing temporary variables or other intermediate information during execution of instructions to be executed by processor 604. Computer 600 further includes a read only memory (ROM) 608 or other static storage device coupled to the bus 602 for storing static information and instructions for the processor 604. A storage device 610 (dotted line), such as a compact flash, smart media, or other storage device, is optionally provided and coupled to the bus 602 for storing instructions.
Computer system 600 may be coupled via the bus 602 to a display 612, such as a cathode ray tube (CRT) or a flat panel display, for displaying an interface to the user. An input device 614, including alphanumeric and function keys, is coupled to the bus 602 for communicating information and command selections to the processor 604. Another type of user input device is cursor control 616, such as a mouse, a trackball, or cursor direction keys for communicating direction information and command selections to processor 604 and for controlling cursor movement on the display 612. This input device typically has two degrees of freedom in two axes, a first axes (e.g., x) and a second axis (e.g., y) allowing the device to specify positions in a plane.
The invention is related to the use of computer 600, such as the depicted computer of
However, the computer-readable medium is not limited to devices such as storage device 610. For example, the computer-readable medium may include a floppy disk, a flexible disk, hard disk, magnetic tape, or any other magnetic medium, a compact disc-read only memory (CD-ROM), any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a random access memory (RAM), a programmable read only memory (PROM), an erasable PROM (EPROM), a Flash-EPROM, any other memory chip or cartridge, a carrier wave embodied in an electrical, electromagnetic, infrared, or optical signal, or any other medium from which a computer can read. Execution of the sequences of instructions contained in the main memory 606 causes the processor 604 to perform the process steps described above. In alternative embodiments, hard-wired circuitry may be used in place of or in combination with computer software instructions to implement the invention. Thus, embodiments of the invention are not limited to any specific combination of hardware circuitry and software.
Computer 600 also includes a communication interface 618 coupled to the bus 602 and providing two-way data communication as is known in the art. For example, communication interface 618 may be an integrated services digital network (ISDN) card, a digital subscriber line (DSL) card, or a modem to provide a data communication connection to a corresponding type of telephone line. As another example, communication interface 618 may be a local area network (LAN) card to provide a data communication connection to a compatible LAN. Wireless links may also be implemented. In any such implementation, communication interface 618 sends and receives electrical, electromagnetic or optical signals which carry digital data streams representing various types of information. Of particular note, the communications through interface 618 may permit transmission or receipt of instructions and data to be processed according to the above method. For example, two or more computers 600 may be networked together in a conventional manner with each using the communication interface 618.
Network link 620 typically provides data communication through one or more networks to other data devices. For example, network link 620 may provide a connection through local network 622 to a host computer 624 or to data equipment operated by an Internet Service Provider (ISP) 626. ISP 626 in turn provides data communication services through the world wide packet data communication network now commonly referred to as the �Internet� 628. Local network 622 and Internet 628 both use electrical, electromagnetic or optical signals which carry digital data streams. The signals through the various networks and the signals on network link 620 and through communication interface 618, which carry the digital data to and from computer 600, are exemplary forms of carrier waves transporting the information.
Computer 600 can send messages and receive data, including program code, through the network(s), network link 620 and communication interface 618. In the Internet example, a server 630 might transmit a requested code for an application program through Internet 628, ISP 626, local network 622 and communication interface 618.
The received code may be executed by processor 604 as it is received, and/or stored in storage device 610, or other non-volatile storage for later execution. In this manner, computer 600 may obtain application code in the form of a carrier wave.
It will be readily seen by one of ordinary skill in the art that the present invention fulfills all of the objects set forth above. After reading the foregoing specification, one of ordinary skill will be able to affect various changes, substitutions of equivalents and various other aspects of the invention as broadly disclosed herein. It is therefore intended that the protection granted hereon be limited only by the definition contained in the appended claims and equivalents thereof.
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Does the band or venue determine the volume? I seem to always think it's not loud enough. Raleigh in particular this tour. I don't want to hear the people beside me talking, I want to hear the music so loud that that's all I can hear! What's a girl gotta do to get it turned up?!?!
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- gratefulade
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Who controls the volume?#46849 3 years, 2 months ago
- FaceOnMars
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- Listen To The Flower People
Re: Who controls the volume?#46852 3 years, 2 months ago
- mattgill
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- Atleast I'm enjoying the ride.
Re: Who controls the volume?#46853 3 years, 2 months agoWell a little bit of both, the way you hear sound in the venue also depends on the way the venue is built and where you are sitting. The sound engineer at the soundboard has control over all of the bands mics and the house volume too i believe. So it could also be the venue its self and the acoustics of it that effects the way you hear the band. But also i do feel they sometimes need to crank the mics up alittle more!
- intothesun
- Visitor
Re: Who controls the volume?#46857 3 years, 2 months agoWhats a guy gotta do? i think aliens or oompa lumpas control it..maybe a human
- 83msg1sttyme
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Re: Who controls the volume?#46861 3 years, 2 months ago
- neverstop66
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Re: Who controls the volume?#46868 3 years, 2 months agoI have felt the same way in the past but I thought it was noticeably louder this tour where you had to yell at the person next to you to say something. I guess it is about where you are cuz I thought Raleigh was loud but I've heard other people say they were bothered by city noises.
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Re: Who controls the volume?#46903 3 years, 2 months agothe sound man controls the volume
some venues that are close to populated areas have noise restrictions and can only be so loud
back in 94 after thr GD got rid of dan healy there were a lot of complaints about john cutler( healy's replacement) needing to turn the volume upCan't Live that Negative Way, Make Room for the Positive Day !
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Re: Who controls the volume?#46905 3 years, 2 months agoeveryone knows the best way to listen to the dead is as loud as you possibly can.
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Re: Who controls the volume?#46907 3 years, 2 months agoneverstop66 wrote:
I have felt the same way in the past but I thought it was noticeably louder this tour where you had to yell at the person next to you to say something. I guess it is about where you are cuz I thought Raleigh was loud but I've heard other people say they were bothered by city noises.
At Raleigh, the volume was actually louder in the back of the lawn at the Wharf Rats table then it was at lots of other spots I checked out during the show, so it does matter where you are, not necessarily how close, either. Remember the trains that went by during the first set? They were loud!!Without love day to day insanity's king
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Re: Who controls the volume?#46908 3 years, 2 months agoLast tour (spring) I thought Bobby's mic/guitar were low but this tour I though everything sounded great.
in Mansfield I was way over to John's side and in the 2nd section back, the sound there wasn't as good because of my spot in the venue. I was thinking the same thing about people talking and doing their "wooo hooos" right during the more quiet parts of Estimated Prophet --- damn people. Screaming "woo hoo" and trying to make yourself heard dosn't make you any bigger or better of a fan, if anything it shows how drunk you are and that you arn't even much into the music...... and I'm not talking about the occasional yelling or whatever, some people are just so annoying during the quiet parts.

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We're 5 in a group, planning of staying in Bali villa but no clue of where to stay, any recommendation? Ideally 2 bedroom villa.
Things to experience in Bali - sunset at Tanah Lot, Rice terraces, Lake Batur, Performance Arts, massage/spa, what else??
4D3N Bali - 6 to 9 Apr 2013
We're 5 in a group, planning of staying in Bali villa but no clue of where to stay, any recommendation? Ideally 2 bedroom villa.
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google bali villas...
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First decide if you want beach or inland. Bali isn't such a big place so you can get to all of the places on your list from either (and spas are everywhere). So think about where you want to be when you're not touring.
There are villas all over Bali, too, but the greatest number are in the Seminyak beach area. You won't be right on the beach, but within walking distance -- or a short taxi -- of the beach, restaurants, spas, shops. I like the Petitenget area.
Many of the big resorts also offer villas. This is a good hybrid option because you get to use all of the resort facilities.
This company manages many of the better villas in Bali. http://balihomeparadise.com/
You could also take a look at the Laksmana group.
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Marmot - Thanks for your inf
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It really depends what kind of holiday you're looking for as many of the resorts provide very different experiences. I'm not sure where you are from but I live in Australia, and as our closest Asian destination it will be packed with Aussies, Kuta, for instance is the party capital, with lots of clubs, nightlife, and Aussies drinking and partying. Each of the beach resorts heading north from Kuta are very busy with shops, restaurants, bars (and more Aussies), but the further you head north the more upmarket and sophisticated they become, with Seminyak being very sophisticated, and Legian sitting somewhere in between. The beaches along this coast arent brilliant, but if youre not going for the beaches then this may not matter to you. Nusa Dua on the other hand, has a nice beach with luxury 4 and 5 star hotels within a gated area and may feel a bit sterile but is probably more relaxing than some of the others. I stayed in Seminyak and Ubud. I loved Ubud, up in the hills surrounded by paddy fields, with lots of arts and crafts for sale and great Balinese restaurants, I then went to Seminyak which felt very cosmopolitan but not very Balinese, so I guess it comes down to the type of experience you're looking for.
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Uluwatu is one of my favorite places to see the ocean.
Monkey Forest in Ubud if you're interested in experiencing the monkeys up close (I'm not a fan, as they can get grabby if you're wearing jewelry, sunglasses, food, cameras).
Jimbaran to have a sunset dinner on the beach.
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Violetm & LindyB79 - Thanks for your information
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Here my Itinerary:
6 April (Sat) Day 1
Pecatu GWK (Garuda Wisnu Kencana)/Culture Park – Uluwatu Temple – Jimbaran/Sunset Dinner.
7 April (Sun) Day 2
Batu Bulan Dance Performance – Batik Center – Tampak Siring Temple – Kintamani/Mt Batur – Lunch – Coffee Luwak Farm – Tegalalang rice terrace – Ubud Market.
8 April (Mon) Day 3
Taman Ayun Temple – Waterfall Gigit/Mindful – Ulundanu/Lake Beratan – Tanah Lot Temple.
9 April (Tues) Day 4
Sanur Beach Sunrise - Spa & Balinese massage before heading home.
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Biotin synthase
Citrobacter freundii
Reviewed -
Annotation score: 2 out of 5

The annotation score provides a heuristic measure of the annotation content of a UniProtKB entry or proteome.

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Annotation score: 2 out of 5- Protein inferred from homologyi
This indicates the type of evidence that supports the existence of the protein. Note that the 'protein existence' evidence does not give information on the accuracy or correctness of the sequence(s) displayed.

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- BLAST>sp|P12997|BIOB_CITFR Biotin synthase (Fragment) OS=Citrobacter freundii GN=bioB PE=3 SV=1 MAHSS
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- HistoryEntry version 64 (01 Oct 2014)
Sequence version 1 (01 Jan 1990)
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Select a section on the left to see content.

Provides any useful information about the protein, mostly biological knowledge.

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FunctioniCatalyzes the conversion of dethiobiotin (DTB) to biotin by the insertion of a sulfur atom into dethiobiotin via a radical-based mechanism.By similarity

Describes the catalytic activity of an enzyme, i.e. the chemical reaction it catalyzes. This information usually correlates with the presence of an EC (Enzyme Commission) number in the 'Names and taxonomy' section.

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Catalytic activityiDethiobiotin + sulfur-(sulfur carrier) + 2 S-adenosyl-L-methionine = biotin + (sulfur carrier) + 2 L-methionine + 2 5'-deoxyadenosine.

Provides information relevant to cofactors. A cofactor is any non-protein substance required for an enzyme to be catalytically active. Some cofactors are inorganic, such as metal ions in various oxidation states. Others, such as most vitamins, are organic molecules.

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CofactoriBinds 1 4Fe-4S cluster. The cluster is coordinated with 3 cysteines and an exchangeable S-adenosyl-L-methionine By similarity.By similarityBinds 1 2Fe-2S cluster. The cluster is coordinated with 3 cysteines and 1 arginine By similarity.By similarity

Describes the metabolic pathway(s) associated with a protein.

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Pathwayi

The Gene Ontology (GO) project provides a set of hierarchical controlled vocabulary split into 3 categories:

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GO - Molecular functioni
- 2 iron, 2 sulfur cluster binding Source: UniProtKB-KW
- 4 iron, 4 sulfur cluster binding Source: UniProtKB-KW
- biotin synthase activity Source: UniProtKB-EC
- metal ion binding Source: UniProtKB-KW

The Gene Ontology (GO) project provides a set of hierarchical controlled vocabulary split into 3 categories:

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GO - Biological processi
- biotin biosynthetic process Source: UniProtKB-UniPathway

UniProtKB Keywords constitute a controlled vocabulary with a hierarchical structure. Keywords summarise the content of a UniProtKB entry and facilitate the search for proteins of interest.
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Keywords - Molecular functioniTransferase

UniProtKB Keywords constitute a controlled vocabulary with a hierarchical structure. Keywords summarise the content of a UniProtKB entry and facilitate the search for proteins of interest.
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Keywords - Biological processiBiotin biosynthesis

UniProtKB Keywords constitute a controlled vocabulary with a hierarchical structure. Keywords summarise the content of a UniProtKB entry and facilitate the search for proteins of interest.
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Keywords - Ligandi2Fe-2S, 4Fe-4S, Iron, Iron-sulfur, Metal-binding, S-adenosyl-L-methionine
Enzyme and pathway databases
UniPathway: a resource for the exploration and annotation of metabolic pathways
More..UniPathwayi UPA00078; UER00162.

Provides information about the protein and gene name(s) and synonym(s) and about the organism that is the source of the protein sequence.

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Names & Taxonomyi

Provides an exhaustive list of all names of the protein, from commonly used to obsolete, to allow unambiguous identification of a protein.

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Protein namesiRecommended name:Biotin synthase (EC:18.104.22.168)
Indicates the name(s) of the gene(s) that code for the protein sequence(s) described in the entry. 4 distinct tokens exist: 'Name', 'Synonyms', 'Ordered locus names' and 'ORF names'.

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Gene namesiName:bioB
Provides information on the name(s) of the organism that is the source of the protein sequence.

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Organismi Citrobacter freundii
Shows the unique identifier assigned by the NCBI to the source organism of the protein. This is known as the 'taxonomic identifier' or 'taxid'.

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Taxonomic identifieri 546 [NCBI]
Contains the taxonomic hierarchical classification lineage of the source organism. It lists the nodes as they appear top-down in the taxonomic tree, with the more general grouping listed first.

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Taxonomic lineagei cellular organisms › Bacteria › Proteobacteria › Gammaproteobacteria › Enterobacteriales › Enterobacteriaceae › Citrobacter › Citrobacter freundii complex

Describes post-translational modifications (PTMs) and/or processing events.

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PTM / Processingi
Molecule processing
Feature key Position(s) Length Description Graphical view Feature identifier Actions
Describes the extent of a polypeptide chain in the mature protein following processing.

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Chaini 1 – ›5 ›5 Biotin synthase PRO_0000185550

Provides information on the quaternary structure of a protein and on interaction(s) with other proteins or protein complexes.

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Interactioni

Provides information about the protein quaternary structure and interaction(s) with other proteins or protein complexes (with the exception of physiological receptor-ligand interactions which are annotated in the 'Function' section).

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Subunit structureiHomodimer.By similarity

Provides information on sequence similarities with other proteins and the domain(s) present in a protein.

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Family & Domainsi

Provides information about the sequence similarity with other proteins.

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Sequence similaritiesiBelongs to the radical SAM superfamily. Biotin synthase family.Curated

Displays by default the canonical protein sequence and upon request all isoforms described in the entry. It also includes information pertinent to the sequence(s), including length and molecular weight.

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Sequencei

Indicates if the canonical sequence displayed by default in the entry is complete or not.

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Sequence statusi: Fragment.P12997-1 [UniParc]FASTAAdd to BasketShow »
MAHSS 5Length:5Mass (Da):532Last modified:January 1, 1990 - v1
The checksum is a form of redundancy check that is calculated from the sequence. It is useful for tracking sequence updates.

It should be noted that while, in theory, two different sequences could have the same checksum value, the likelihood that this would happen is extremely low.

However UniProtKB may contain entries with identical sequences in case of multiple genes (paralogs).

The checksum is computed as the sequence 64-bit Cyclic Redundancy Check value (CRC64) using the generator polynomial: x64 + x4 + x3 + x + 1. The algorithm is described in the ISO 3309 standard.

Press W.H., Flannery B.P., Teukolsky S.A. and Vetterling W.T.
 Cyclic redundancy and other checksums
 Numerical recipes in C 2nd ed., pp896-902, Cambridge University Press (1993))
 Checksum:i75A5B1EDD6F00000
Experimental Info
Feature key Position(s) Length Description Graphical view Feature identifier Actions
Is used for sequence fragments to indicate that the residue at the extremity of the sequence is not the actual terminal residue in the complete protein sequence.

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Non-terminal residuei 5 – 5 1
Sequence databasesSelect the link destinations:
DDBJLinks Updated
M21922 Genomic DNA. No translation available. Protein sequence database of the Protein Information Resource
More..PIRi I40698.

Is used to point to information related to entries and found in data collections other than UniProtKB.

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 Cross-referencesi
Sequence databasesSelect the link destinations:
DDBJLinks Updated
M21922 Genomic DNA. No translation available. Protein sequence database of the Protein Information Resource
More.. PIRi I40698.
3D structure databases
Database of comparative protein structure models
More.. ModBasei Search... MobiDB: a database of protein disorder and mobility annotations
More.. MobiDBi Search...
Protocols and materials databases
Structural Biology Knowledgebase Search...
Enzyme and pathway databases
UniPathway: a resource for the exploration and annotation of metabolic pathways
More.. UniPathwayi UPA00078 ; UER00162 .
Family and domain databases
ProtoNet; Automatic hierarchical classification of proteins
More.. ProtoNeti Search...

Contains the literature citations that are the sources of data used to annotate the entry. Each reference is numbered and contains several subsections allowing a precise description of a given citation.

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Publicationsi
- "Transcriptional regulation and gene arrangement of Escherichia coli, Citrobacter freundii and Salmonella typhimurium biotin operons."
Shiuan D., Campbell A.
Gene 67:203-211(1988) [PubMed] [Europe PMC] [Abstract]Cited for: NUCLEOTIDE SEQUENCE [GENOMIC DNA].

Provides general information on the entry.

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Entry informationi

Provides a mnemonic identifier for a UniProtKB entry, but it is not a stable identifier. Each reviewed entry is assigned a unique entry name upon integration into UniProtKB/Swiss-Prot.

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Entry namei BIOB_CITFR
Provides one or more accession number(s). These are stable identifiers and should be used to cite UniProtKB entries. Upon integration into UniProtKB, each entry is assigned a unique accession number, which is called 'Primary (citable) accession number'.

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Accessioni P12997Primary (citable) accession number: P12997
Shows the date of integration of the entry into UniProtKB, the date of the last sequence update and the date of the last annotation modification ('Last modified'). The version number for both the entry and the sequence are also displayed.

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Entry historyi Integrated into UniProtKB/Swiss-Prot: January 1, 1990 Last sequence update: January 1, 1990 Last modified: October 1, 2014 This is version 64 of the entry and version 1 of the sequence. [Complete history]
Indicates whether the entry has been manually annotated and reviewed by UniProtKB curators or not, in other words, if the entry belongs to the Swiss-Prot section of UniProtKB (reviewed) or to the computer-annotated TrEMBL section (unreviewed).

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Entry statusi Reviewed (UniProtKB/Swiss-Prot) Annotation program Prokaryotic Protein Annotation Program

Contains any relevant information that doesn't fit in any other defined sections

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Miscellaneousi
- PATHWAY commentsIndex of metabolic and biosynthesis pathways
- SIMILARITY commentsIndex of protein domains and families
External DataDasty 3


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text: Computer-Based Instruction Produced by Dr. James J. Kirk Professor of HRD Some Things You Will Learn Ways in which computers are used to create, deliver, monitor, and evaluate instruction Fundamental concepts associated with the use of computer-based instruction and interactive video discs Costs and benefits of technology based instruction Computer-Based Instruction CBI-An Umbrella Term Computer Based Instruction Computer Aided Instruction Computer Managed Instruction Computer Supported Learning Resources Computer-Aided Instruction A computer program coded to... display prompts and instructions to a learner keep track of learners' paths and reactions provide feedback in response to learners' input Computer-Managed Instruction A computer program coded to... • present and score tests • keep records of trainees' performance • make learning recommendations based on trainees' performance Computer Supported Learning Resources A computer program coded to help a worker perform a given task... •Help Systems •Wizards Hyper Development Station The Three Hypers Hypertext Hypermedia HyperCard Hypertext Text that provide a variety of electronic paths to information Hypermedia Similar to hypertext but provides free linkages between different forms of media (i.e., text, graphics, video, audio, and animation). HyperCard The original hypermedia software authoring system which links various types of media through the use of media cards, buttons, and stacks of cards. Authoring Software Authoring Programs Can Present various types of information on a computer display user to different parts of a lesson Help manage instruction Authoring Programs Can't Author anything Guarantee the quality of the instruction Names Of Authoring Programs Authorware Professional Course Builder CD Author Digital Chisel HyperCard HyperStudio ToolBook Quest Interactive Videodisc An Exciting Trend Menu Scripting Oriented Programs Hyper Work Stations Capabilities Of HyperCard Organizational Chart Field Personnel Information Help System Phone Book Product Catalogue Trouble Shooter's Guide Computer-Aided Instruction Multimedia Stack Types Of Media Brought In Audio Video Text Graphic Combination Of Various Mediums Steps In Developing CAI Developing CAI 1. Set Parameters 2. Estimate Costs 3. Assemble The 5. Structure & Executing Design Team 4. Conduct Analysis & Develop Design Plan Step One: Setting Parameters What do we have to go here? What has to happen? How will we make it happen? How much might it cost? Step Two: Estimating Costs $ Training Materials $ Equipment $ Labor $ Materials Step Three: The Design Team Project Manager Design Team Instructional Designer Design Team Programmer Design Team Subject Manager Expert Step Four: Analysis & Plan Who is to be taught? What is to be taught? How shall it be taught? When is it to be taught? Step Five: Execute Plan Interactive Videodisc I V D Impact Of IVD ¦ Less face-to-face contact ¦ Learning is objectively and quantifiably measured ¦ Content must be explicitly specified and approved ¦ IVD training takes longer to develop and change ¦ Resources are needed to manage the IVD environment How Will IVD Change Your Organization? Questions To Ask Yourself ¦ How is instruction offered now? ¦ What learning objectives can be accomplished by IVD? ¦ What objectives or by-products can not be accomplished by IVD? ¦ Who will develop and approve IVD instructional lessons? Questions To Ask Yourself ¦ How will IVD training performance be measured? ¦ How will trainees react to the new IVD technology? ¦ Who will manage the IVD software and hardware? ¦ How will IVD be updated? Setting Up An IVD Environment ¦ Select a conducive atmosphere ¦ Develop and post job aids Setting Up An IVD Environment ¦ File the hardware manuals, invoices, and warranties maintenance system Assessing IVD ¦ Is the assessment grounded to job requirements? ¦ Do scores reflect just post-tests scores? ¦ Can courses be retaken? If so, how will the scores count? ¦ How will test security be maintained? Assessing IVD ¦ Who and upon what basis will test scores be interpreted? ¦ Who will have access to test scores and how will they be retrieved? ¦ How will feedback be used to update and revise courses? ¦ Who will determine if and when course modifications will occur Costs & Benefits Costs Benefits Expensive Technology Consistency Of Instruction Special Facilities Competency Assured Some Things We Have Learned Ways in which computers are used to create, deliver, monitor, and evaluate instruction Fundamental concepts associated with the use of computer-based instruction and interactive video discs Costs and benefits of technology based instruction


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Apple Tree - Granny Smith.
- Starting at: $49.95 - In stock
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A Tart Favorite Among Apple-Lovers
Granny Smith Apple tree is a fruit tree that produces high-quality, tart apples on a reliable tree. Plant one in a sunny location and watch your harvest grow!
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If you love a tart apple, or just enjoy one with good storage and a variety of culinary uses, Granny Smith is the perfect apple for you.
* Delicious tart apples
* Long lived tree
* Heat tolerant
* Stores up to 6 months
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At Nature Hills we handle, package and ship the products you order with the utmost care to ensure healthy delivery. Shipping and handling charges are calculated based on the tables below. Please note that some items include an additional handling surcharge, these will be noted on the item's product page.
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Nature Hills sells a variety of plants and products, with many available in different types and sizes:
Select (bare root) Trees - Hand-selected quality bare root trees. The height of the tree you will receive will be displayed under the icon. Popular sizes of Select Trees are 1 foot, 2 feet, 3 feet, etc.
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|Seed Packets - Our seed packets will contain this icon.
|Other product types will simply list what type of product it is (bags of seed, trays of plugs and garden center items etc.).
|Malus 'Granny Smith'
|Mature Height
|Semi-Dwarf: 15-20'
|Well Drained
|Sun Exposure
|Full Sun
|Crisp, Tart
|Bloom Period
|Mid April
|Pollinator Required
|None Required
|Harvest Period
|Late October
Apple Tree - Granny Smith.


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Wherever human rights are abused, people are fighting back. Wherever you are, you can join the Rights Journey and help people living in poverty demand their human rights.
Once you have registered with the Rights Journey, you can take action – sign a petition, send a web action, participate in a discussion forum or attend a 'virtual' event. All the actions you take become 'steps' on the Rights Journey. Your steps are added to those of other activists all over the world who are heading for the same destination – to have maximum impact on those with the power to end human rights abuses. You can also track your own personal journey and see your contribution to the fight against human rights violations.Start your journey. Register now »


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The first modern draft lottery was held in December 1969. I remember well; my birthdate was drawn early on in the lottery and I was dealt a low draft number. At the time I had a college deferment but I knew that I'd be graduating soon enough and would be inducted to fight the communist menace in Vietnam. I needed to educate myself as to what was actually going on overseas other than the reports I watched on Walter Cronkite and The Evening News.
I was living in Atlanta and attending a rather conservative engineering school. The student body was not politically active and the Army and Navy ROTC programs were popular. The lottery results had split my college buddies into those of us who were now looking at having to go fight overseas and the fortunate ones with high draft numbers who were not to be called up. I was advised by friends and family to enlist in the ROTC so at least to be able to enter the service as an officer.
The counter-culture scene was just then coming into full swing in the South. The Atlanta alternative weekly The Great Speckled Bird contained progressive news along with event listings for music concerts and art happenings around the city. My urban campus was near Piedmont Park and the free concerts on Sunday afternoons were sometimes headlined by The Allman Brothers Band. The popular music of the day that I heard on our college station WREK radio was informing me in a way that seemed more important and vital than my classes at Georgia Tech. My mates and I were just being introduced to cannabis and we were spending our study time getting high, listening to great new music, and expanding our minds in our own way.
My afternoons spent in the park brought me into contact with veterans who were returning from active duty in 'Nam. Most of these hardened young men were trying to integrate into a rapidly evolving youth culture. When asked about their experiences, their stories were not about courage and valor. They spoke of war atrocities and the mass murder of innocent people. Many seemed psychologically damaged and addicted to hard drugs and alcohol. I slowly realized that I had been lied to by my own government and by my elders; and I knew that I would not participate in the insanity of a needless and unjust war. So I resolved to stay in school for as long as I could. Sometime later I was able to find a sympathetic draft board volunteer who advised me about an arcane but legal way to receive a reclassified lower draft status that kept me out of the service.
The draft lottery had the apparently unforeseen consequence of helping to generate a mass resistance movement of "draft dodgers" who were healthy, young, and well educated. The anti-war movement grew larger and more organized each year. Some conscientious objectors chose prison over enlisting. Others chose to move to Canada somewhere around 125,000 young men who abandoned the war and their country. The FBI and federal law enforcement grew ever more draconian in their surveillance and apprehension of these young "subversives and agitators".
Although Nixon campaigned in 1972 on winding down the war, he instead expanded U.S. bombing missions into Laos and Cambodia. Only his personal legal problems coming from the Watergate break-in and his subsequent impeachment and resignation slowed down the military war machine. But the nail in the coffin that ended this grinding war was the leaking by Daniel Ellsberg of The Pentagon Papers (depicted in the documentary The Most Dangerous Man in America) and their publication by The New York Times. The mainstream media had turned against the ruling elite. The public was finally fed up with their leaders and their transgressions, and in 1975 the decision was made under President Gerald Ford to pull the plug.
This untold story about the strategic blunders committed by the military at the end of the war and the botched evacuation of Americans and their Vietnamese allies from Saigon is the subject of Rory Kennedy's new documentary, Last Days in Vietnam. The youngest daughter of Robert Kennedy has directed or produced over 30 films including Ghosts of Abu Ghraib. Americans should take heed from these historical lessons so that we don't let our government continue to start wars that they can never seem to finish.
Upcoming Film Events at The Naro Cinema
GORE VIDAL: THE UNITED STATES OF AMNESIA No twentieth-century figure has had a more profound effect on the worlds of literature, film, politics, historical debate and the culture wars than Gore Vidal. Gore was one of the most brilliant and fearless critics of our time. He used the media to wage blistering attacks on hypocrisy and establishment politics. His overview of the state of the Republic and the health of U.S. democracy were his last words and testimony. (90 mins)
Showing Wed, Sept 24 with Angelo Mesisco speaking.
EXPEDITION TO THE END OF THE WORLD On a three-mast ocean schooner packed with artists, scientists and ambitions worthy of Noah or Columbus, an international crew sets sail for the end of the world the rapidly melting massifs of North-East Greenland. An epic journey where the brave men and women on board encounter polar bear nightmares, Stone Age playgrounds and entirely new species. But in their encounter with new, unknown parts of the world, the crew of scientists and artists also confront the existential questions of life. (90 mins)
Showing Wed, Oct 1 with speaker Victoria Hill, Research Professor specializing in the Arctic with ODU Ocean, Earth, & Atmospheric Sciences.
THE PLEASURES OF BEING OUT OF STEP Nat Hentoff is one of the enduring critical voices of the last 65 years, a writer who championed jazz as an art form. His long-running Village Voice column covering culture and politics influenced and inspired many younger journalists who wrote for the alternative press. The film includes interviews with Hentoff as well as rare footage of the legendary Duke Ellington, Miles Davis, John Coltrane, Charles Mingus, Bob Dylan, and Lenny Bruce. (86 mins)
Showing Wed, Oct 8 with Tom Robotham and Maurice Berube speaking.
LAST DAYS IN VIETNAM Award-winning independent filmmaker Rory Kennedy's new film chronicles a story few of us have heard before. During the chaotic final days of the Vietnam War, the North Vietnamese Army closes in on Saigon as South Vietnamese resistance crumbles. The prospect of an official evacuation of the remaining Americans and their South Vietnamese allies becomes hopelessly delayed by Congressional gridlock and a delusional U.S. Ambassador. With the clock ticking and the city under fire, a number of Americans take matters into their own hands, engaging in unsanctioned and often makeshift operations in a desperate effort to save as many South Vietnamese lives as possible. (98 mins)
Showing Wed, Oct 15 with David Swanson who will return to speak at the Naro from his home in Charlottesville. He is a nationally renowned journalist, teacher, peace activist, and author of War Is A Lie, When The World Outlawed War, and War No More: The Case For Abolition.
By Tench Phillips, co-owner Naro Cinema
If you're like many people I know, you are having a real problem these days with the type of reporting that's being churned out by media companies. I've cut way back on my watching, listening, and reading of the mainstream news and opinion. I find that the general reporting is just too inauthentic, superficial, one-sided, and intentionally misleading. It's the narrative that the establishment media creates to justify militarism and violence in the name of spreading democracy. And whether the targeted enemy may be the Russians, Hamas, Iranians, or illegal immigrants current events are spun with little historical context or instruction on how we got ourselves into this current global morass. If there was really an effort by the media to inform Americans rather than divide and confuse, we might realize that much of the dire global problems confronting us are of our government's making.
Unlike the media in countries where the state controls much of the information and the message, the American establishment press imposes its own self-censorship and willingly delivers the message orchestrated by the corporate state. But that's only to be expected in an economic system run by corporatist capitalism the media is just doing their designated job. Whether its creating a consensus for war or expanding the market for military weapons, the American economy depends on it. Through the willing complicity of the media, the military budget has more than doubled since Sept 11, 2001. Incredibly, the federal outlay for just the nuclear weapons industry is by itself greater than the funding of all welfare programs together. And it remains unknown the billions spent on the secret "dark" government and the high-tech surveillance industry. To justify these enormous expenditures, media must continually cultivate enemies of the state, even if those enemies are American citizens.
In order to keep the scam going, important voices for peace and justice are excluded from the media's national dialogue. Such articulate, activist journalists as Noam Chomsky, Chris Hedges, Ralph Nader, David Swanson, and Glen Greenwald are rarely heard from on all those cable news channels nor published in newspaper op-eds. Their advocacy for democratic accountability subverts the narrative dished out by mainstream media that champions corporatism, free trade, and American empire. But fortunately for those who are paying attention, their astute political analysis is thriving on progressive web sites. Many of them are featured on Democracy Now! with Amy Goodman which is broadcast weekdays on many public radio stations (but no longer locally) and on the web (democracynow.org).
A longtime witness for peace is Kathy Kelly, the co-founder of Voices for Creative Nonviolence and a worldwide activist for the recognition and relief of oppressed people who have been victims of unjust U.S. economic and foreign policy. She has lived and worked with the people of Iraq and has spent this summer in Afghanistan documenting the lives of those living under the threat of U.S. drone attacks. Kathy has come to Norfolk twice in the past few years as a guest of Steve Baggarly and The Norfolk Catholic Worker. She returns to the area once again and will speak at the Naro on September 17 at a film program about the criminality and brutality of the U.S. war in Afghanistan.
Upcoming Film Events at the Naro
WALKING THE CAMINO: Six Ways to Santiago Various pilgrims, from ages 3 to 73, attempt to cross the entire country of Spain on foot. Equipped with only a backpack, a pair of boots and an open mind, they experience the Camino's magnetic and miraculous power to transform lives. Each pilgrim throws themselves body and soul into their incredibly challenging trek to Santiago de Compostela, and most importantly, their personal journey to find their true authentic selves. (84 mins) Showing Aug 20 with speakers: Mike Pearson is an author, adventurer, and Professor of Creative Writing at ODU and founder of the ODU Literary Festival.
CODE BLACK Filmmaker and resident physician Ryan McGarry transports us to the front lines of America's busiest emergency room, Los Angeles County Hospital's legendary trauma unit. McGarry and his colleagues exhibit a new attitude about how our society treats those around us who are in pain or suffering. The dedicated staff provides the only safety net available for most of the poor and the uninsured in L.A. county. The film is an intense, doctor's-eye view into the heart of the American healthcare debate. (80 mins) Showing Aug 27 with speakers and discussion.
THE GREAT CONFUSION: THE 1913 ARMORY SHOW The International Exhibition of Modern Art was held at the unusual location of the 69th Regiment Armory in New York City, and it marked the dawn of Modernism in America. The show drew 90,000 attendees and featured the best "avant-garde" artists and sculptors of Europe including Van Gogh, Gaugin, Cezanne, Degas, Picassso, Matisse, and Duchamp. There were also many lesser known American artists in the show. Filmmaker Michael Maglaras' informative new film highlights the iconic artwork of the show as well as the response by audiences and the critics of the time. (85 mins) Showing Sept 3 with
filmmaker: Michael Maglaras will be in attendance to introduce his film.
LIFE ITSELF In 2013, we lost Roger Ebertarguably the nation's best-known and most influential movie critic. Based on his memoir of the same name, Life Itself recounts Ebert's fascinating and flawed journey. From a politicized school newspaperman. From Chicago Sun-Times movie critic, to Pulitzer Prize winner, to screenwriter of Beyond the Valley of The Dolls, to television household name along with fellow film critic Gene Siskel. And finally to the miracle of finding love at 50, and to his "third act" as a cancer patient and a major voice on the Internet when he could no longer physically speak. Directed by Steve James (Hoop Dreams) who grew up in Hampton. (117 mins) Date to be announced.
THE KILL TEAM Filmmaker Dan Krauss investigates the ongoing story first revealed in a Rolling Stone expose titled "How U.S. Soldiers in Afghanistan Murdered Innocent Civilians". Private Adam Winfield was a 21-year-old soldier in Afghanistan when he attempted with the help of his father to alert the military to heinous war crimes his platoon was committing. But Winfield's pleas went unheeded. Left on his own and with threats to his life, Private Winfield was himself drawn into the moral abyss, forced to make a split-second decision that would change his life forever. Winner of The Grand Jury Prize at Tribeca Film Festival. (79 mins) Showing Sept 17 with Kathy Kelly. Kathy Kelly is a longtime peace activist in Iraq and Afghanistan and co-founder of Voices for Creative Nonviolence.
FIELD OF DREAMS The 25th Anniversary Showing! Kevin Costner stars as an Iowa farmer who hears a mysterious voice telling him to turn his cornfield into a baseball diamond. He does, but the voice's directions don't stop even after the spirits of deceased ballplayers turn up to play. James Earl Jones and Burt Lancaster co-star as a reclusive writer and a young slugger turned doctor, respectively, with Ray Liotta turning in a pivotal performance as "Shoeless" Joe Jackson. Showing in "Faith In Film"series with Scott Hennessy on Sunday, Sept 14.
We are living under a truly Orwellian political system that claims to work for the best interests of the public but in fact will only pass legislation and regulations in the interests of corporations. No matter which politicians are in office, the corporate capitalists dismantle social welfare programs, defund education, push down unions and wages, gut environmental regulations, escape taxation, and fund more war.
Politicians dare not call attention to the scam or speak out for campaign reform; they are raking in too much dough from all the legalized corporate bribery that they receive. So they hide behind nationalism, party politics, and religion, thinking that they can keep fooling the masses.
Their efforts are aided and abetted by the mainstream media whose tills overflow with the record-breaking political campaign spending that is now allowed. These media barons would never bite the hand that feeds them and so they unquestioningly spout state propaganda that promotes empire and good ole' American exceptionalism.
Such a mass deception necessitates a perpetual campaign of elaborate lies and denials orchestrated by our two party duopoly. Those who might stand up to the system truth tellers, activist journalists, and whistleblowers are severely punished by the government in an attempt to keep other insiders from coming forth. Edward Snowden and Julian Assange could never receive a fair trial in this country.
And then there is Aaron Swartz, a less renown truthteller whose story will be presented on Wednesday, July 16 in the new documentary The Internet's Own Boy. Swartz was a programming prodigy and information activist who developed the basic internet protocol RSS and then co-founded Reddit. Some years later, after cashing in on the sale of Reddit, he chose a life of strong progressive activism. But his commitment to change the world ensnared him in a legal nightmare that ended with the taking of his own life at the age of 26.
In order to better understand Aaron Swartz, we can compare his actions to those of another young student living in Boston at the time. Mark Zuckerberg started his first social network project Facemash by hacking into Harvard University's network to illegally obtain photos and information about fellow students. He went on to monetize his project and to receive the full backing of Wall Street.
Swartz ran in some of the same social circles as Zuckerberg in Boston and in a similar fashion as the Facebook founder, he also breached the security of a major university, MIT. But Swartz's motivation for his hacking was way different. He downloaded and made available for free the publicly funded academic and research papers that were distributed by a for-profit company, JSTOR.
In defiance of the Silicon Valley business model, Swartz was not willing to play the game that Zuckerberg played to create his individual wealth through the privatizing of the internet. Zuckerberg received the protection of the government, and all that was asked of him in return was to hand over his customer's collected information to be used for worldwide surveillance.
In contrast, Aaron Swartz' belief was in an open society with free and open information. But he knew that we must first fight for media democracy if there can ever be real government transparency. The monetization and exploitation of the early public airwaves of radio and television led to rampant commercialization that has served the interest of corporate empires rather than the democratic ideal of a well informed citizenry. Now these same forces were about to win control of the internet.
In 2012, Aaron organized a citizen campaign to keep the internet open and free. He fought an uphill battle against an entrenched Congress that represented industries attempting to control content on the internet in a bill called the Stop Online Piracy Act (SOPA). His campaign went viral on the web and Congress was astounded by the public outcry against their underhanded actions. The politicians jumped ship and in a brief time, the bill was shelved by the House Judiciary Committee.
It's easy to see why the government came after Swartz and gave Zuckerberg a free pass. The corporate state may be lenient on hackers, but activism and media democracy are the real threats feared by the establishment. Swartz was just too charismatic and smart to be left alone by the U.S. Attorney's Office. They charged him with felonies that carried a maximum penalty of 35 years in prison. He fought the government for two years to gain his freedom and it bankrupted him as well as caused his depression. Aaron Swartz finally succumbed to the forces of darkness in 2013.
If Aaron was still with us today he would undoubtably be leading the fight against the current FCC efforts to squander the promise of the internet on large corporate interests. But his tragic and needless death has made him into an internet martyr for the digerati and young techno hackers. In trying to make an example of Aaron Swartz along with Edward Snowden and Julian Assange, the government has helped grow the movement for a free internet and for transparency in government. All the military-corporatist forces together cannot eradicate this new interconnected world conscience.
More Upcoming Film Events at the Naro
SMILES OF A SUMMER NIGHT Set in turn-of-the-century Sweden, the relationships of four men and four women are entangled as they attempt to navigate the laws of attraction. When they are all invited to a summer solstice celebration at a beautiful country estate, the women collude to force the men's hands in matters of the heart. Director Ingmar Bergman's crowning comic achievement. Showing in "Faith in Film"on Sunday, June 22.
IF YOU BUILD IT From the director of Wordplay and I.O.U.S.A. comes a captivating look at a radically innovative approach to education through a year-long, full-scale design and build project that does much more than just teach basic construction skills. The film follows designer-activists Emily Pilloton and Matthew Miller to rural Bertie County, the poorest in North Carolina and just south of the Virginia state line. Showing Wed, June 25.
CITIZEN KOCH In this searing exposé on the state of democracy in America and the fracturing of the Republican Party, Oscar nominated directors Carl Deal and Tia Lessin (co-producers of Fahrenheit 9/11 & Bowling for Columbine) follow the big money funding the rise of the Tea Party and right-wing America. Showing Wed, July 2.
FINDING VIVIAN MAIER Now considered one of the 20th century's greatest street photographers, Vivian Maier was a loner who worked as a nanny most of her life, and shot over 100,000 photos that went unseen during her lifetime. Showing Wed, July 9.


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Living With Cancer: Not Talking About Medical Mistakes
October 30, 2014,
People with darker skin get deeper tans and burn less quickly than other people, but does that mean better protection against skin cancer?
A new study argues that it would be worth the cost to begin a broad screening program for early signs of melanoma.
The small pilot study reached no conclusion about the exact increase in risk that marathoners face, however.
Scientists say the process in which moles and molelike tumors start and then stop may be good news.
We already know almost everything about sunscreen, right?
Sunshine restores the soul and fosters the formation of vitamin D, but no one is safe from its damaging ultraviolet rays.
People are bronzing their bodies for social events, even as doctors and government officials are ratcheting up warnings.
The Swiss drug maker Serono and its partner, the CancerVax Corporation, said that they would halt development of an experimental melanoma drug.
Dermoscopy allows doctors to more accurately assess the odds that a mole is cancerous before making surgical excisions.
Dr. A. Bernard Ackerman, a dermatologist, spends much of his time diagnosing the potentially deadly cancer melanoma and other skin diseases. But when he returned from a recent trip to Israel, he was, well, deeply tanned.


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We stayed here for two nights recently. The hotel is a nice boutique hotel, an oasis just off the bustle of Times Sq. We very much enjoyed the 5-6 pm wine hour in the lobby where wine is served to the guests - you can take it back to your room or stay in the cozy lobby and socialize with your fellow guests. Coffee is also served in the lobby in the mornings.
A huge problem however is that the outside windows are definitely not updated for sound remediation. We have stayed in many many hotels in Manhattan, as near to Times Sq as this one, and we have never heard street sounds like this. I thought in fact that our window (which was a very small window, BTW) was open, which of course, it wasn't. We were on the 14th floor. The inside walls are great, we never heard a sound from within the hotel, but the outside noises were extremely disturbing, so much so that our sleep was frequently interrupted. The 2nd night, what helped, was to keep the fan in the room on, creating enough white noise as to block out the outside.
This is a lovely enough hotel, but is it amazing? For this price point, no. There is no turn down service, which, at this price point, I expected. Sure, the robes are cute, and there was one pair of socks for the two of us to use (I made sure the mgr knew we hadn't taken the 2nd pair, that there was only 1 pair there to begin with, for the 4 of our combined feet!), and the yoga mat, uh, really??, kind of gimmicky if you ask me, and trust me, I work out all the time - so with all the hype here on this site, I just expected more. The rooms are very small, the smallest in fact that we have stayed in in NYC, but even so, that's ok. There was a light out in the bathroom, nowhere near enough hooks/racks in the bathroom for towels and said cute robes, and the in room heating/cooling system was a bit off - the room seemed to be heated from the building as a whole, we would turn the heat way down, even off, to no avail, so we ended up turning on the aircon even though it was in the 40s (F) outside! .......it's these little things that add up - I don't rate a place 5 stars easily. But it definitely deserves 4 stars, even with it's foibles, I just expected more, as I said, due to the reviews.
- Official Description (provided by the hotel):
- Beautifully renovated, The Muse Hotel New York is a serene, stylish sanctuary centered in midtown Manhattan. With top-notch service, exquisite amenities and luxurious comfort, each spacious guestroom is a sophisticated, artful inspiration. Housed in New York City's theater district in the historic Leavitt Building, adjacent to NIOS restaurant and wine bar, this boutique hotel is within easy walking distance of Times Square, Rockefeller Center, the New York Public Library and the Museum of Modern Art. ... more less
- Reservation Options:
- TripAdvisor is proud to partner with Booking.com, Expedia, Hotels.com, Jetsetter, Sabre Hospitality Solutions, Orbitz, Otel, Amex, Despegar.com, Priceline, TripOnline SA, Odigeo and Tingo so you can book your The Muse Hotel New York reservations with confidence. We help millions of travelers each month to find the perfect hotel for both vacation and business trips, always with the best discounts and special offers.
- Also Known As:
- Kimpton New York City
- New York City Kimpton
- Muse Hotel New York


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CAP1 - Part 15.5 - (Pre-Evo Dream World Ability Discussion)
Discussion in 'CAP Pre-Evolution Workshop' started by Rising_Dusk, May 1, 2011.
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Our biggest fans from coast to coast have gotten
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Asked byRobert from on 3/17/2014
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Deluxe Comfort Terrycloth Cover for Sleep Better Pillow
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|Product Type: Pillow protector
|Color: White
|Pattern: Solid
|Cleaning Method: Machine wash
|Gender: Unisex
|Life Stage: Adult
|Country of Manufacture: China
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OUR SKU # DLX1001Terrycloth Cover for Sleep Better Pillow is also sometimes listed under the following manufacturer numbers: TCC-002-02


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We're an incredibly connected world. That's why we need to make sure we have the proper data and multimedia cables to keep us that way! Puremobile.com has stereo cables, data cables, USB and HDMI cables for all of your gadget needs. We have brand names such as iLuv, Griffin, Scosche, and Samsung.
Incipio IM255 Cable Wrap 85W MBP 15 /17 White Pink$9.99
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